#ifndef GEARBOX_H
#define GEARBOX_H



#include "KHSJoystick.h"
#include "Jaguar.h"
#include "Encoder.h"
#include "Gamepad.h"
#include "ManipulatorSystem.h"
#include "PIDOutput.h"

class GearBox:public PIDOutput{
public:
	GearBox();
	GearBox(int,int, bool);
	~GearBox();
	
	Jaguar *m_Jaguar1,*m_Jaguar2;
	Encoder *mptr_Encoder;
	bool m_isRight,m_isHalfSpeed;
	void drive(float);
	void goHalfSpeed(bool);
	double getEncoderValue();
	Encoder* getEncoderPtr();
	void PIDWrite(float);

};

#endif /* GEARBOX_H_ */
